Unmanned aerial vehicle and control systems and methods

ABSTRACT

Systems and methods for an unmanned aerial vehicle (UAV) and control are provided. A UAV may include a swashplateless and hinged propulsion system, and a rotating payload system including an ISR device, a wind sensor, explosive charge and an atmospherics and/or CBRN sensor. A UAV flight controller may include a motion, compass, visual and gyroscopic (MCVG) or other gravitational forces sensor, a communications module configured to communicate with a UAV, and a flight module. The flight module may be configured to receive flight data from the UAV and generate flight control instructions based at least on the flight data and data received from the MCVG sensor. The flight control instructions may be operable to pilot the UAV based on movement of the UAV flight controller in 3D space.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Application No. 63/215,305, filed on Jun. 25, 2021, and entitled “UNMANNED AERIAL VEHICLE AND CONTROL SYSTEMS AND METHODS,” the benefit of which is claimed and the disclosure of which is incorporated herein in its entirety.

TECHNICAL FIELD

The present disclosure relates generally to unmanned aerial vehicles (UAVs), and more specifically to systems and methods of real-time measuring, mapping, tracking, and/or predicting atmospheric data in multi-dimensional air space using one or more UAVs as well as flight control thereof.

BACKGROUND

Environmental forces such as wind speed, wind direction and other atmospherics (e.g., barometric pressure, temperature, humidity) can drastically affect the flight path of an object, energy or frequency beam (e.g., ballistic projectiles, airdrops, aircraft, laser, equipment drops, skydive jumps, etc.) through space. The flight path can be affected by highly complex wind conditions in which inconsistent wind speeds, wind directions and other atmospherics make precision landing and/or placement difficult. Supplemental devices may be used to gauge wind speed and direction but can be highly prone to error as many of the readings are subject to user interpretation. Positioning multiple sensors downrange may be difficult, if not impractical, in many applications, such as when time is of the essence, discreteness is desired, or during operations.

It is therefore desirable to provide improved systems and methods that address at least in part the above described problems and/or which more generally offers improvements or an alternative to existing arrangements.

SUMMARY

According to embodiments of the present disclosure, an unmanned aerial vehicle (UAV) is provided. The UAV (e.g., vertical take-off and landing VTOL tail-sitter) may include a swashplateless and hinged (teetering, off-set, lag-pitch or other hinge) propulsion system, and a rotating payload system including an ISR device, an explosive charge, a wind sensor, and an atmospherics sensor.

According to embodiments of the present disclosure, a weapon or device-mounted UAV flight controller is provided. The UAV flight controller may include a motion, compass, visual and gyroscopic (MCVG) sensor, a communications module configured to communicate with a UAV, and a flight module. The flight module may be configured to receive flight data from the UAV and generate flight control instructions based at least on the flight data and data received from the MCVG sensor. The flight control instructions may be operable to pilot the UAV based on movement of the UAV flight controller in 3D space or via manual user input (e.g., remote joystick).

According to embodiments of the present disclosure, a method of calculating a true wind vector using a UAV is provided. The method may include calculating a ground course vector through measurement of a velocity vector of the UAV with respect to ground, calculating an apparent wind vector through measurement of a velocity vector of the air relative to the UAV, and calculating the true wind by combining the ground course vector and the apparent wind vector.

Additional features are set forth in part in the description that follows and will become apparent to those skilled in the art upon examination of the specification and drawings or may be learned by the practice of the disclosed subject matter. A further understanding of the nature and advantages of the present disclosure may be realized by reference to the remaining portions of the specification and the drawings, which forms a part of this disclosure.

One of skill in the art will understand that each of the various aspects and features of the disclosure may advantageously be used separately in some instances, or in combination with other aspects and features of the disclosure in other instances. Accordingly, individual aspects can be claimed separately or in combination with other aspects and features. Thus, the present disclosure is merely exemplary in nature and is in no way intended to limit the claimed invention or its applications or uses. It is to be understood that structural and/or logical changes may be made without departing from the spirit and scope of the present disclosure.

The present disclosure is set forth in various levels of detail and no limitation as to the scope of the claimed subject matter is intended by either the inclusion or non-inclusion of elements, components, or the like in this summary. In certain instances, details that are not necessary for an understanding of the disclosure or that render other details difficult to perceive may have been omitted. Moreover, for the purposes of clarity, detailed descriptions of certain features will not be discussed when they would be apparent to those with skill in the art so as not to obscure the description of the present disclosure. The claimed subject matter is not necessarily limited to the arrangements illustrated herein, with the scope of the present disclosure is defined only by the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The description will be more fully understood with reference to the following figures in which components may not be drawn to scale, which are presented as various embodiments of the unmanned aerial vehicle described herein and should not be construed as a complete depiction of the scope of the exercise system.

FIG. 1 illustrates an unmanned aerial vehicle (UAV), in accordance with an embodiment of the disclosure.

FIG. 2A illustrates a transition of the UAV from vertical take-off to stable horizontal flight, in accordance with an embodiment of the disclosure.

FIG. 2B illustrates a swashplateless, hinged rotor system design, in accordance with an embodiment of the disclosure.

FIG. 2C illustrates a fully articulated or semi-rigid cyclic rotor system design, in accordance with an embodiment of the disclosure.

FIG. 2D illustrates a swashplate system, in accordance with an embodiment of the disclosure.

FIG. 2E illustrates another fully articulated rotor system design, in accordance with an embodiment of the disclosure.

FIG. 3 illustrates atmospheric data and ISR data collection by the UAV during operations, in accordance with an embodiment of the disclosure.

FIG. 4A illustrates sensor payloads of the UAV, in accordance with an embodiment of the disclosure.

FIG. 4B illustrates a fragmentary view of the UAV, in accordance with an embodiment of the disclosure.

FIG. 4C illustrates a destruction payload of the UAV, in accordance with an embodiment of the disclosure.

FIG. 4D illustrates use of the UAV as an improvised explosive device or a static intelligence, surveillance, and reconnaissance device, in accordance with an embodiment of the disclosure.

FIG. 5A illustrates the UAV in a folded configuration, in accordance with an embodiment of the disclosure.

FIG. 5B illustrates the UAV in an unfolded configuration, in accordance with an embodiment of the disclosure.

FIGS. 5C, 5D, and 5E illustrate various views of the UAV in the folded configuration, in accordance with an embodiment of the disclosure.

FIG. 6 illustrates a top view of the UAV, in accordance with an embodiment of the disclosure.

FIG. 7 illustrates a rotating and interchangeable payload system of the UAV, in accordance with an embodiment of the disclosure.

FIG. 8 illustrates the rotating payload in a plurality of positions, in accordance with an embodiment of the disclosure.

FIG. 9 illustrates a system including a plurality of UAVs, with each UAV in a landed condition, in accordance with an embodiment of the disclosure.

FIG. 10 illustrates the system and shows each UAV in a vertical take-off condition, in accordance with an embodiment of the disclosure.

FIG. 11A illustrates a tip-over prevention system of the UAV, in accordance with an embodiment of the disclosure.

FIG. 11B illustrates a park position of the UAV, in accordance with an embodiment of the disclosure.

FIG. 12 illustrates the system of FIGS. 9 and 10 and shows a threat analysis, in accordance with an embodiment of the disclosure.

FIG. 13 illustrates the system and shows a bio-mimicking behavior of the UAV, in accordance with an embodiment of the disclosure.

FIG. 14 illustrates additional self-recovery features of the UAV, in accordance with an embodiment of the disclosure.

FIG. 15 illustrates a low flight or low speed carrier airdrop mode of the UAV, in accordance with an embodiment of the disclosure.

FIG. 16 illustrates a high flight or high-speed carrier airdrop mode of the UAV, in accordance with an embodiment of the disclosure.

FIG. 17 illustrates a high speed/high altitude airdrop shell for the UAV, in accordance with an embodiment of the disclosure.

FIGS. 18A and 18B illustrate a parachute-less airdrop shell tethered to a carrier aircraft, in accordance with an embodiment of the disclosure.

FIGS. 19-20 illustrate the parachute-less airdrop shell released from the carrier aircraft, in accordance with an embodiment of the disclosure.

FIG. 21 illustrates deployment of the parachute-less airdrop shell, in accordance with an embodiment of the disclosure.

FIGS. 22-28 illustrate various UAV-assisted operations, in accordance with one or more embodiments of the disclosure.

FIGS. 29-31 illustrate various weapons-assist operations utilizing the UAV, in accordance with one or more embodiments of the disclosure.

FIG. 32 illustrates a UAV coordinator, in accordance with an embodiment of the disclosure.

FIG. 33 illustrates a weapon-mounted coordinator and UAV system in a close-quarters battle situation, in accordance with an embodiment of the disclosure.

FIG. 34 illustrates a firehose-mounted coordinator and UAV system in a firefighting situation, in accordance with an embodiment of the disclosure.

FIGS. 35A and 35B illustrate a mortar-mounted coordinator and UAV system, in accordance with an embodiment of the disclosure.

FIG. 36 illustrates an artillery-mounted coordinator and UAV system, in accordance with an embodiment of the disclosure.

FIG. 37 illustrates a weapon-mounted coordinator in communication with a ballistic system, in accordance with an embodiment of the disclosure.

FIG. 38 illustrates the coordinator, in accordance with an embodiment of the disclosure.

FIGS. 39A, 39B, and 39C illustrate a flowchart of a control module process, in accordance with an embodiment of the disclosure.

FIGS. 40A, 40B, and 40C illustrate a flowchart of targeting and UAV command and control procedures, in accordance with an embodiment of the disclosure.

FIGS. 41-46 illustrate six respective operations supporting the flowcharts illustrated in FIGS. 39A-40 , in accordance with an embodiment of the disclosure.

FIGS. 47-50 illustrate various examples of coordinator movement detection and triggering UAV control and UAV position adjustment, in accordance with an embodiment of the disclosure.

FIGS. 51-54 illustrate various examples of coordinator-enabled UAV positioning in an indoor/CQB mode, in accordance with an embodiment of the disclosure.

FIG. 55 illustrates true wind estimation via a wind triangle method, in accordance with an embodiment of the disclosure.

FIG. 56 illustrates various wind sensors and atmospheric sensors, in accordance with an embodiment of the disclosure.

FIG. 57 illustrates sensor fusion methods and sensor placement on the UAV, in accordance with an embodiment of the disclosure.

Embodiments of the disclosure and their advantages are best understood by referring to the detailed description that follows. It should be appreciated that like reference numerals may be used to identify like elements illustrated in one or more of the figures.

DETAILED DESCRIPTION

According to the present disclosure, systems and methods are provided for real-time measuring, mapping, tracking, and/or predicting atmospheric data in multi-dimensional air space. According to one or more embodiments, an aircraft is provided. The aircraft may be an AI-enabled, air droppable, foldable winged, and tail-sitter vertical take-off and landing (VTOL) aircraft. The aircraft may utilize under-actuated or fully-actuated swashplateless and hinged propulsion technology (e.g., teetering hinge, off-set hinge, lag-pitch hinge) and a rotating payload system for scalable multi-payload deployment capability and sensor fusion applications enhancing target engagement precision and atmospherics measuring, mapping and prediction in a multi-dimensional space environment.

The systems and methods described herein have numerous applications, including, for example, the following:

-   -   a) Defense applications such as directed energy, missiles,         combat airplane and helicopter rockets and ballistic projectiles         of any shape or form (e.g., precision sniper shots, marksman,         machine gun, mortar, artillery, directed energy beams, sound         beams, frequency beams and laser beams);     -   b) Defense applications such as tactical and strategic         battlefield resupply and airdrops from fixed-wing and         rotary-wing aircraft, equipment drops on gliders or parachutes,         high and low altitude skydive jumps and warfighter insertion,         personnel recovery and combat search and rescue operations,         drone swarm release and information warfare material (psyops)         released from air space;     -   c) Defense and civilian applications such as landing manned or         unmanned fixed-wing or rotary aircrafts on boats, ships or         aircraft carriers;     -   d) Civilian applications such as golf, recreational shooting and         target practicing sports as well as hunting;     -   e) First responder applications such as firefighters, fire         jumper, CBRN particle and virus/pathogen detection, mapping and         tracking; and     -   f) Industrial applications such as wind farms, agriculture and         nature preservation.

According to the present disclosure, systems and methods are provided for weapon-mounted or handheld device-mounted UAV flight control. The controller may be motion, compass, visual, gyroscopic, gravity-force (e.g., accelerometer, inclinometer, tilt-sensing) sensor-based and operable to control autopiloted flight of an unmanned aircraft. The controller described herein may have numerous applications, including, for example, the following:

-   -   a) Direction of direct fire designator;     -   b) Direction of indirect fire designator;     -   c) Direction of water designator;     -   d) Direction of energy designator;     -   e) Direction of laser beam designator; and     -   f) Direction of frequency wave designator.

According to the present disclosure, systems and methods are provided for wind triangle-based, Visual Inertial Odometry (VIO)-enhanced sensor fusion wind speed and wind direction measurement. Such systems and methods may provide objective and projectile guidance to enhance precision target engagement and hit probability in GPS-enabled and GPS-denied environments. In addition, measurement of wind speed and 3D wind direction may facilitate sniper applications and other direct or indirect munitions, including laser, frequencies, and directed energy.

FIG. 1 illustrates an unmanned aerial vehicle (UAV) 100, such as an advanced reconnaissance and multi-application drone aircraft, in accordance with an embodiment of the disclosure. As shown, UAV 100 may be a vertical take-off and landing (VTOL) aircraft having wings 102 and dual rotors 104 (e.g., in a counter-rotating or same directional dual rotor configuration), although other configurations are contemplated. UAV 100 may transition between a vertical phase (e.g., for taking off, static hovering and landing) and a horizontal flight phase during operation to provide maneuverability and flight characteristics. UAV 100 may transition from vertical flight to horizontal flight using swashplateless propulsion technology and additional actuators (embedded in wings 102, stabilizers, or other part of the aircraft), as described below. Once transitioned to horizontal flight, UAV 100 may use its wings 102 to leverage air lift physics and enable efficient short and long-distance flights.

FIG. 2A illustrates a transition of UAV 100 from vertical take-off to stable horizontal flight, in accordance with an embodiment of the disclosure. Referring to FIG. 2A, UAV 100 may have instant or near-instant take-off transition capability—from tail-sitting to horizontal flight. For example, UAV 100 may include actuators 200 (e.g., on wings 102) and stabilizers 204 that enable fast transition from vertical take-off to stable horizontal flight.

FIG. 2B illustrates a swashplateless, hinged rotor system design, in accordance with an embodiment of the disclosure. Referring to FIG. 2B, UAV 100 may include fully actuated propulsion using swashplateless technology to control all degrees of freedom and emulate full actuation over forces and torques using only two actuators. For example, torque impulses may be varied to control blade position and/or angle of attack. In embodiments, the propulsion system may use a swashplateless rotor head in combination with teetering hinge propulsion technology. The swashplateless rotor head may include a motor 210, a teetering hinge 212, and lag-pitch hinges or offset hinges 214, or any combination thereof. Such embodiments are exemplary only, and the swashplateless rotor head may include other hinge or hinge-like configurations.

FIG. 2C illustrates a fully articulated or semi-rigid cyclic rotor system design, in accordance with an embodiment of the disclosure. FIG. 2D illustrates a swashplate system, in accordance with an embodiment of the disclosure. Referring to FIGS. 2C and 2D, UAV 100 may include fully actuated propulsion using a swashplate system 220 to control all degrees of freedom. The swashplate system may provide cyclic rotor pitch control for UAV transition and maneuverability. Referring to FIG. 2C, swashplate system 220 may include a servo 222, a swashplate 224, and one or more rods 226 connected the servo 222 to the swashplate 224, such that actuation of servo 222 moves swashplate 224 to control propulsion. Referring to FIG. 2D, swashplate 224 may include a non-rotating plate 230 connected to rod(s) 226 and a rotating plate 232 configured to rotate with motor drive shaft 234 and rotor blades 236. A pitch link 240 may connect each rotor blade 236 to rotating plate 232 to control pitch/angle of attach of rotor blades 236 via movement of swashplate 224. As shown, pitch link 240 may be connected to a respective rotor blade 236 via a pitch horn 240, although other configurations are contemplated.

Such embodiments are illustrative only, and UAV 100 may include other systems operable to control cyclic pitch and/or angle of attach of rotor blades 236. For example, FIG. 2E illustrates another fully articulated rotor system design, in accordance with an embodiment of the disclosure. As shown, servo 222 may be connected directly to a rotor blade 236, such as via a pitch change rod 250. In such embodiments, actuation of servo 222 may control up and down movement and/or position of rotor blade 236.

FIG. 3 illustrates atmospheric data collection by UAV 100 during operations, in accordance with an embodiment of the disclosure. As shown, UAV 100 may include a rotating payload 300 that is selectively positionable based on flight and/or atmospheric conditions and/or characteristics. The rotating payload 300 may include one or more ISR (intelligence, surveillance, and reconnaissance), or CBRN (chemical, biological, radiological and nuclear) detection devices, and explosive charge and/or wind and atmospheric sensors. In embodiments, the rotating payload 300 may include a nano-charge, a phosphor ignition system, an electrical short circuit mechanism, an explosive charge, or other destruction application or system. In embodiments, the rotating payload 300 may include a weapons system configured to engage a target. The rotating payload 300 may be fully functional in the landed position. As a result, UAV 100 may be able to engage a target and/or gather data and information when landed or in static hovering position, such as general atmospherics including temperature, barometric pressure, humidity, density altitude, wind speed, and wind direction, among others. During vertical take-off and/or horizontal flight, UAV 100 may continue to gather general atmospheric data via the rotating payload 300 and/or in combination with the wind triangle method FIG. 55 and a plurality of onboard sensors FIG. 57 .

With continued reference to FIG. 3 , UAV 100 may be a VTOL tail-sitter when ready for take-off. For example, UAV 100 may be placed in an upright vertical position, with its wing tips 304 and tails/fins 306 engaged with the ground or other surface to hold UAV 100 upright. In like manner, during vertical landing, UAV 100 may land with its wing tips 304 and tails/fins 306 engaging the ground.

FIG. 4A illustrates sensor payloads of UAV 100, in accordance with an embodiment of the disclosure. As shown, UAV 100 may include a first sensor payload 400 and a second sensor payload 402. The first sensor payload 400 may be an ISR payload, such as a 3-axis ISR dual-camera gimbal. The second sensor payload 402 may be an atmospheric payload, such as one or more wind and/or atmospheric, CBRN sensors or additional explosive material.

FIG. 4B illustrates a fragmentary view of UAV 100, in accordance with an embodiment of the disclosure. As shown, UAV 100 may include visual-inertial odometry (VIO) 410, such as to facilitate autonomous navigation of UAV 100 (e.g., in GPS-denied or degraded environments). As described herein, UAV 100 may be scalable as desired. For example, UAV 100 (e.g., the aircraft and/or its propulsion technology) may be upsized or downsized based on payload requirements. UAV 100 may be battery powered or may carry an internal power source other than batteries to extend flight time and/or power capacity (e.g., hybrid, combustion engine, hydrogen fuel cell, etc.). In battery-powered applications, the battery may be rechargeable. For example, UAV 100 may be placed on an inductive charging plate connected to an external power source (e.g., solar cells, power bank, battery, etc.). Such embodiments may benefit prolonged missions (e.g., one or multiple UAVs used for stationary area overwatch; 360-degree camp, compound, biwak or hideout security (ISR); rapid threat detection and target engagement system, etc.). Each rotor may include an under-actuated or fully-actuated swashplateless rotor design, including hinges, such as but not limited to teetering hinges 212, off-set hinges or lag-pitch hinges 214, to control flight characteristics.

FIG. 4C illustrates a destruction payload of UAV 100, in accordance with an embodiment of the disclosure. FIG. 4D illustrates use of UAV 100 as an improvised explosive device (IED) or a static intelligence, surveillance, and reconnaissance (ISR) device, in accordance with an embodiment of the disclosure. In embodiments, UAV 100 may include an explosive charge 414 (e.g., a nano-charge, a phosphor ignition system, an electric short circuit mechanism, explosives, grenades, gas containers, or other destruction device/system). An operator may fly or otherwise command UAV 100 into the ground, a structure, or an enemy target 416 and trigger the explosive charge 414 either physically (e.g., impact trigger), via sensors (e.g., heat, proximity, face ID, AI trigger, etc.), or remotely (e.g., via a controller, such as an ATAK controller). For example, a controller may direct UAV destruction and/or UAV engagement of enemy target 416. An operator may assign a target to UAV 100 and trigger UAV-IED detonation. In some embodiments, an operator may manually pilot UAV 100 into enemy target 416 (e.g., via remote control, a heads-up display, etc.), such as via point-of-view guidance and a live view UAV feed.

In some embodiments, the UAV 100 may be piloted to a designated position 418. An operator may land and hide the UAV 100 at the designated position 418 for use as an IED triggered in a manner similar to that described above. In embodiments, the UAV 100 may be flown and landed in the designated position 418 to function as an ISR device.

FIGS. 5A, 5C, 5D, and 5E illustrate various views of UAV 100 in the folded configuration, in accordance with an embodiment of the disclosure. As shown, the wings 102 may fold and collapse to limit size and form of UAV 100. For example, each wing may hinge or fold in one or more (e.g., a plurality of) locations 500 to fold and collapse UAV 100 into a compact form, such as to facilitate transport and storage.

FIG. 5B illustrates UAV 100 in an unfolded configuration, in accordance with an embodiment of the disclosure. As shown, the wings 102 may be unfolded into their extended states for flight. The wings 102 may be held in their unfolded, extended states via various configurations. For example, wing sections may be held together via magnets, locks, or other structures 510. When unfolded, the wings 102 may provide a dihedral wing structure for improved flight stability and performance.

FIG. 6 illustrates a top view of UAV 100, in accordance with an embodiment of the disclosure. Referring to FIGS. 5B and 6 , UAV's angled wing tips 304 and center fuselage fins 306 may act as built-in vertical take-off and landing gear. For instance, while on the ground, UAV 100 may sit on its angled wing tips 304 and center fuselage fins 306 touching the ground at four spots, although other configurations are contemplated. The angled wing tips 304 and center fuselage tail fins 306 may also provide improved flight stability and performance.

FIG. 7 illustrates the rotating payload 300 of UAV 100, in accordance with an embodiment of the disclosure. Referring to FIG. 7 , the rotating payload 300 may be a 360-degree rotating payload system for multi-payload carrier capability. For example, the rotating payload 300 may include an interchangeable rotating payload adapter head 700, able to carry and switch quickly between multiple different payloads (e.g., different ISR cameras). The rotating payload system may have automatic leveling technology (gimbal tech), keeping the payload head 700 in the application-desired position independent of aircraft movement or aircraft position in space.

FIG. 8 illustrates the rotating payload 300 in a plurality of positions, in accordance with an embodiment of the disclosure. Referring to FIG. 8 , the rotating payload 300 may rotate about a gimbal axis 800. Additionally, or alternatively, the rotating payload system may move and lock one or more payloads (e.g., wind, ISR, CBRN and atmospheric sensors) in and out to change the height of the payload 300 (i.e., sensors) relative to the aircraft and relative to the propulsion system. In embodiments, retraction movement of the payload 300 may be mechanically linked to the rotation movement of the payload head 700. For example, when wind/atmospherics sensor turns from 6 o'clock position to 12 o'clock position, during that 180-degree turn the mechanism automatically pushes the wind sensor out. Rotating the payload head 700 back or an additional 180-degrees, the mechanism may automatically retract the sensor in (e.g., to its storage position). The rotating mechanism can be a combined “twist and expand” mechanism, pushing the atmospherics sensor out while turning it upwards to the 12 o'clock position.

FIG. 9 illustrates a system 900 including a plurality of UAVs 100, with each UAV 100 in a landed condition, in accordance with an embodiment of the disclosure. As shown, multiple UAV systems may be placed in an area to provide multiple data and/or surveillance points. Each UAV 100 may be placed manually by an operator, or each UAV 100 may be piloted and placed in a designated position (e.g., autonomously). Each UAV 100 may land and take-off autonomously or manually. Each UAV's AI, sensor and payload capabilities may be fully functioning and transmitting data to and from the user (e.g., an operator) when landed, with each UAV 100 able to make one or more tactical decisions to protect the mission, the operator, and/or itself.

FIG. 10 illustrates the system 900 and showing each UAV 100 in a vertical take-off condition, in accordance with an embodiment of the disclosure. As shown, each UAV 100 may take off vertically to gather atmospheric data and/or provide surveillance from an elevated or flight position. Each UAV's AI, sensor and payload capabilities may be fully functioning and transmitting data to and from the user (e.g., an operator) when in flight, with each UAV 100 able to make one or more tactical decisions to protect the mission, the operator, and/or itself.

FIG. 11A illustrates a tip-over prevention system of UAV 100, in accordance with an embodiment of the disclosure. FIG. 11B illustrates a park position of UAV 100, in accordance with an embodiment of the disclosure. Referring to FIGS. 11A and 11B, UAV 100 may be equipped with one or more safety and/or damage prevention systems. For example, referring to FIG. 11A, UAV 100 may have the ability to prevent itself from tipping over when on ground and the ability to self-recover from a crash or fall. In such embodiments, gyroscopic sensors monitor the orientation of the aircraft while on the ground, constantly looking for threatening lateral and other directional forces that could bring the vertical upright position of the aircraft out of balance. If such threatening force appears and pushes or pulls the aircraft out of balance, UAV 100 initiates an instant thrust boost to catch itself from tipping over and falling to the ground. UAV 100 may instantly take off by itself to a designated flight level above ground and remain in a hover position. UAV 100 may then initiate a sensor-based landing area and threat assessment scan, looking for a new and safe landing spot. After automatic assessment or manual inspection through the user, UAV 100 may initiate a landing procedure to continue its prior task before the threat occurred.

Referring to FIG. 11B, UAV 100 may automatically adjust its components when landed on the ground. For instance, when landed on the ground, UAV 100 may automatically adjust its rotor blades 1100 into a park position—aligning the rotor blades 1100 with the direction of the wings 102. Such configurations may limit rotor breakage or damage in case of a fall or crash.

FIG. 12 illustrates the system 900 of FIGS. 9 and 10 and showing a threat analysis, in accordance with an embodiment of the disclosure. UAV 100 may constantly scan its environment for possible threats 1200 to the aircraft, an operator 1202, and/or the mission and has the capability to decide on its own or by user input to take off and leave its current area or space to maintain discreteness of the operation or maneuver.

FIG. 13 illustrates the system 900 and shows a bio-mimicking behavior of UAV 100, in accordance with an embodiment of the disclosure. When airborne, UAV 100 may apply a bio-mimicking behavior to blend in with nature and the animal kingdom. For example, UAV 100 may initiate a flight pattern similar to a bird 1300 to maintain discreteness of the operation or maneuver. The bio-mimicking behavior may be chosen based on locale, environment, or season. For instance, the bio-mimicking behavior may imitate a local bird to further facilitate discreteness of the operation or maneuver.

FIG. 14 illustrates additional self-recovery features of UAV 100, in accordance with an embodiment of the disclosure. As shown, UAV 100 may include self-recovery features that allow a safe and successful aircraft launch after a crash, fall or tip-over. For example, UAV 100 may include fix-mounted or deployable landing legs 1400 that prevent the aircraft from tipping over. In some embodiments, the rotating and expandable payload head 700 may act as a kinetic recovery feature that alters the aircraft's position on the ground, such as to bring the rotors 104 into a free-spinning position/elevation. From the free-spinning position, UAV 100 may initiate an instant boost to initiate an instant aircraft launch where the aircraft and all its features test and reset themselves before bringing the aircraft back to the ground in a safe, upright and controlled manner.

FIG. 15 illustrates a low flight airdrop mode of UAV 100, in accordance with an embodiment of the disclosure. In some embodiments, UAV 100 may have low velocity airdrop survivability. For example, UAV 100 may be released, launched, or thrown from a fixed-wing or rotary-wing aircraft 1500 at low flight velocity. UAV 100 may launch itself when in free fall and gain control over its flight maneuvers and/or stability automatically (autonomously). As shown, a real-time data stream may exist from UAV 100 to the user/operator (e.g., to an ATAK system 1502).

FIG. 16 illustrates a high flight airdrop mode of UAV 100, in accordance with an embodiment of the disclosure. In embodiments, UAV 100 may have high velocity airdrop survivability. For instance, UAV 100 may be released, launched, or thrown from a fixed-wing or rotary-wing aircraft 1600 at high flight velocity (e.g., greater than 130 mph). As shown, UAV 100 may be released inside a protective shell compartment 1602 with automatic parachute and aircraft release systems triggered by timer, remote trigger, or designated atmospheric value/parameter.

FIG. 17 illustrates a high speed/high altitude airdrop shell 1700 for UAV 100, in accordance with an embodiment of the disclosure. As shown, the airdrop shell 1700 may be released, thrown, or deployed from a fixed-wing or rotary-wing manned or unmanned aircraft or airborne platform 1702. During freefall, atmospherics are measured and transmitted in real-time to the user. At a certain point, freefall of the airdrop shell 1700 may be slowed down by automatic or manual parachute deployment. During parachute mode, atmospherics are measured and transmitted in real-time to the user. When conditions are right, UAV 100 may automatically release from the airdrop shell 1700, whether triggered by timer, atmospheric trigger, remote, freefall speed, or the like. For example, the airdrop shell 1700 may open, and UAV 100 may slide out of the shell compartment by gravity force. Once clear of the airdrop shell 1700, UAV 100 may start its rotors 104 automatically when the aircraft enter freefall again to gain control over its flight status. Once flight status of UAV 100 is regained, UAV 100 may be ready to operate and execute missions in space environment, with ISR and atmospherics measurements transmitted in real-time to the user.

The airdrop shell 1700 may have many configurations. For example, the airdrop shell 1700 may protect UAV 100 from instant high-speed forces and environmental exposure when released from extreme altitudes. The airdrop shell 1700 may have an aerodynamic shape that softens the instant exposure to high-speed wind forces. The airdrop shell 1700 may have an aerodynamic shape that actively or passively starts to spin once it hits the airstream behind the carrier aircraft. The airdrop shell 1700 may have an aerodynamic shape with stabilizer surfaces or wings to ensure a stable launch from the carrier aircraft. The airdrop shell 1700 may be released on a cut-away rope that remains attached to the inside of the carrier aircraft until the shell 1700 has reached a stable spin or glide status in the airstream. The airdrop shell 1700 may use a passive or automatic one or two stage parachute deployment system (1. Pilot chute, 2. Main chute) to stabilize the exposure to the airstream and then reduce the shell's speed while falling back to earth. The airdrop shell 1700 may include a passive or active trigger that releases the UAV 100 from the shell platform. Such mechanism may be triggered by a timer, altitude sensor, location sensor, manual remote user input, temperature sensor, air pressure sensor, or Lidar sensor. The airdrop shell 1700 may be built from a material that disintegrates over time when exposed to sunlight and/or other environmental conditions (e.g., will leave no footprint in enemy territory).

In some embodiments, the airdrop shell 1700 may be parachute-less. For instance, the airdrop shell 1700 may have a shape that takes advantage of the autorotation principle to slow down the vertical fall, known from spinning maple seeds or passenger helicopters (emergency procedure). The airdrop shell 1700 bio-mimicking a maple seed shape may use an aerodynamically, stabilized stationary (non-spinning) center compartment, housing the UAV 100 while maintaining a controlled outer rotating wing system comprising of one or multiple autorotating blades. The autorotating passive fall allows UAV 100 (which sits inside the shell 1700) to measure real-time atmospherics while falling back to earth and sending this information back to the carrier aircraft (e.g., HALO jumpers that are ready to skydive after the UAV 100 has mapped the local air profile and has reached the hovering final ISR altitude (300 ft above the landing zone) streaming live footage back to the HALO teams and their ATAK screens 1502).

FIGS. 18A and 18B illustrate a parachute-less airdrop shell 1800 tethered to a carrier aircraft 1802, in accordance with an embodiment of the disclosure. As shown, autorotating rotor blade flaps 1804 may be in compact positions alongside the main shell body. In this position, the blade flaps 1804 may be spring-loaded and held in position by constant pull (drag force) that is created by the release rope 1806 attached to the carrier aircraft.

FIGS. 19-20 illustrate the parachute-less airdrop shell 1800 released from the carrier aircraft 1802, in accordance with an embodiment of the disclosure. As shown in FIG. 19 , the blade flaps 1804 may pop out by 90 degrees once the rope 1806 has released the shell 1800 and/or the airspeed of the shell 1800 has decreased enough so that the blade flaps 1804 aren't held down by the high-speed airstream. As shown in FIG. 20 , the blade flaps 1804 of the airdrop shell 1700 may begin rotating when exposed to the airstream. In embodiments, the main body (i.e., center fuselage, center of mass, airdrop shell) may remain stationary while the blade flaps 1804 are rotating.

FIG. 21 illustrates deployment of the parachute-less airdrop shell 1800, in accordance with an embodiment of the disclosure. At Step 1, the parachute-less airdrop shell 1800 may be released, thrown, or dropped from a fixed-wing or rotary-wing manned or unmanned aircraft or airborne platform, with atmospherics measured and transmitted in real-time to the user during freefall. At Step 2, freefall may be slowed down by autorotating rotor blades, with atmospherics measured and transmitted in real-time to the user. At Step 3, UAV 100 may automatically release, triggered by timer, atmospheric trigger, remote, freefall speed, etc. For example, UAV 100 may slide out of the shell compartment by gravity force and start its rotors 104 automatically when the aircraft enters freefall again to gain control over its flight status. At Step 4, UAV 100 may be ready to operate and execute missions in the environment.

FIGS. 22-28 illustrate various UAV-assist operations, in accordance with one or more embodiments of the disclosure. For example, referring to FIG. 22 , UAV 100 may be utilized to map and measure a desired atmospheric corridor and calculate an atmospheric profile prior to a parachute jump from an airborne platform. In such embodiments, UAV 100 may measure wind parameters and atmospherics in vertical descent or ascent modes, in a static hover mode, and/or in motion (e.g., by applying sensor-fusion technology and/or wind triangle calculations). UAV 100 may provide a real-time data stream to the user (e.g., parachute jumper).

Referring to FIG. 23 , UAV 100 may be utilized to map and measure a desired atmospheric corridor and calculate an atmospheric profile prior to an equipment drop from an airborne platform. In such embodiments, UAV 100 may measure wind parameters and atmospherics in vertical descent or ascent modes, in a static hover mode, and/or in motion (e.g., by applying sensor-fusion technology and/or wind triangle calculations). UAV 100 may provide a real-time data stream to the user (e.g., load master or pilot, via ATAK system 1502).

Referring to FIG. 24 , UAV 100 may assist take-off and landing procedures on aircraft carriers or other stationary or moving ships and platforms on the water. UAV 100 may measure wind parameters and atmospherics in vertical descent or ascent modes, in a static hover mode, and/or in motion (e.g., by applying sensor-fusion technology and/or wind triangle calculations). UAV 100 may provide a real-time data stream to the user (e.g., ship captain, pilot, or other UAV/UAS, via ATAK system 1502).

Referring to FIGS. 25-26 , UAV 100 may be utilized for air corridor mapping and profiling for silent glider applications. In such embodiments, UAV 100 may support precision landing of a silent glider 2500. UAV 100 may measure wind parameters and atmospherics in vertical descent or ascent modes, in a static hover mode, and/or in motion (e.g., by applying sensor-fusion technology and/or wind triangle calculations). UAV 100 may provide a real-time data stream to the user (e.g., pilot or the silent glider itself, via ATAK system 1502).

Referring to FIG. 27 , UAV 100 may facilitate air corridor mapping and profiling for resupply and air drop applications. For example, UAV 100 may support precision landing and air profile mapping behind enemy lines (combat applications) and remote areas (search and rescue, medical delivery, personnel recovery, etc.). Similarly, and referring to FIG. 28 , UAV 100 may support air corridor mapping and profiling for precision skydive and parachute jumps and landings as well as a live video feed of the landing zone from the UAV to the operator's interface (e.g. ATAK 1502).

FIGS. 29-31 illustrate various weapons-assist operations utilizing UAV 100, in accordance with one or more embodiments of the disclosure. For example, referring to FIGS. 29-31 , UAV 100 may provide or assist a ballistic system operable to gather wind data and other atmospherics at one or more points along a flight path of a weapons projectile (e.g., bullet, mortar, artillery, directed energy, laser and frequency weapons, etc.) and calculate a ballistic solution for the projectile based on the gathered data. In this regard, the UAV 100 may be similar to the airborne devices disclosed in U.S. application Ser. No. 16/822,925, filed Mar. 18, 2020, now U.S. Pat. No. 10,866,065, and U.S. application Ser. No. 17/099,592, filed Nov. 16, 2020, the disclosures of which are hereby incorporated by reference in their entireties for all purposes. In addition, the ballistic system of the present disclosure may be similar to the ballistic system disclosed in either U.S. application Ser. No. 16/822,925 or U.S. application Ser. No. 17/099,592. For directed energy, laser and frequency weapons, UAV 100 may assist directed energy systems to maximize their efficiency and effectiveness (e.g., atmospheric measurements supporting frequency and beam tuning).

FIG. 32 illustrates a UAV coordinator, in accordance with an embodiment of the disclosure. Referring to FIG. 32 , a coordinator 3200 is provided that interfaces or communicates with UAV 100. Except as otherwise noted below, the coordinator 3200 may be similar to the data interface disclosed in either U.S. application Ser. No. 16/822,925 or U.S. application Ser. No. 17/099,592, which are incorporated by reference in their entireties for all purposes.

As disclosed herein, the coordinator 3200 may be weapon-mounted, tripod-mounted (e.g., spotter scope, JTAC fire control unit, CAS laser designator), or handheld (e.g., attached to binoculars). The coordinator 3200 may enable automatic access to specific area data gathered by UAV 100, such as atmospherics and ISR, alongside the desired direction of fire or flight path. The coordinator 3200 and UAV 100 may be in communication with each other, either directly or indirectly via a computer module (e.g., ATAK 1502), such as to control operation of UAV 100 and/or provide the specific area data to a user via the coordinator 3200. For example, FIG. 33 illustrates a weapon-mounted coordinator and UAV system in a close-quarters battle (CQB) situation, in accordance with an embodiment of the disclosure. In such examples, the coordinator 3200 may receive CQB-pertinent area data from UAV 100 to aid the shooter. Referring to FIG. 34 , the coordinator 3200 may direct UAV 100 to gather data alongside the direction of the water stream and/or the coordinator 3200 may receive atmospheric data from UAV 100 relevant to the direction of water, such as wind direction and magnitude, etc. Referring to FIGS. 35A and 35B, the coordinator 3200 may direct UAV 100 to gather data alongside the direction of the mortar fire and/or the coordinator 3200 may receive atmospheric data from UAV 100 relevant to the direction of mortar fire, such as data relevant to a ballistic solution. Similarly, referring to FIG. 36 , the coordinator 3200 may direct UAV 100 to gather data alongside the direction of artillery fire and/or the coordinator 3200 may receive atmospheric data from UAV 100 relevant to the direction of artillery fire. Similarly, referring to FIG. 31 , the coordinator 3200 may direct UAV 100 to gather data alongside the direction of a directed energy beam, laser, microwave or other frequency beam and/or the coordinator 3200 may receive atmospheric data from UAV 100 relevant to the direction of directed energy beam, laser, microwave or other frequency beam.

FIG. 37 illustrates a weapon-mounted coordinator in communication with a ballistic system 3202, in accordance with an embodiment of the disclosure. In embodiments, the coordinator 3200 may provide situation-specific data to a ballistics calculator. For instance, the coordinator 3200 may provide the ballistics calculator data related to direction of fire, slant angle, weapon tilt, target range, among others, or any combination thereof. Such information, along with atmospheric data collected by UAV 100, may be used to calculate a ballistics solution 3204 (e.g., elevation and/or windage calculations) for the shooter.

FIG. 38 illustrates the coordinator 3200, in accordance with an embodiment of the disclosure. The coordinator 3200 may include various displays. For instance, the coordinator 3200 may include a “range to target” display 3800 that indicates the distance to the target, whether input manually or gathered from an internal or external range finder. The coordinator 3200 may include a “FFP 0 core parameters” display 3802 that indicates wind speed, wind direction, and slant angle at the firing position, gathered by internal and externally-linked sensors. The coordinator 3200 may include an “anti-cant level indication” display 3804 that provides visual feedback to the shooter regarding weapon cant (e.g., centered, left-canted, right-canted, etc.). The coordinator 3200 may include a “real time firing solution” display 3806, which displays the calculated ballistic solution based on weapon and atmospheric data gathered by the coordinator 3200 and UAV 100, respectively. In some embodiments, the coordinator 3200 may include a “UAV positioning mode” display 3808 that indicates whether one or more UAVs 100 are being positioned automatically or manually alongside the flight path of the projectile. In “auto” mode, one or more UAVs 100 may be positioned via AI control based on local topography, the flight path, potential threat detection, numbers of drones, etc. In “manual” mode, one or more UAVs 100 may be positioned via user input, as detailed below. In some embodiments, the coordinator 3200 may include a “UAV flight mode” display 3810 indicating the flight mode of UAV 100 (e.g., standby mode, low profile wind measuring mode, high profile wind measuring mode, park mode, etc.).

With continued reference to FIG. 38 , the coordinator 3200 may include various controls. For instance, the coordinator 3200 may include a range wheel 3820, a range button 3822, and a “UAV send it” button 3824. The range wheel 3820 may allow the user to manually input the range to target, as displayed on the “range to target” display 3800. The range button 3822 may import distance to target data from internal and/or external sensors. In some embodiments, the range button 3822 may request the ballistics computer to calculate the ballistic solution based on current conditions (e.g., based on atmospherics collected by the coordinator 3200 and/or external devices, such as UAV 100). A quick press of the “UAV send it” button 3824 may launch the drones to their designated positions. In some embodiments, holding the “UAV send it” button 3824 may recover the drones and have them return to home (e.g., the firing position, the FFP 0 location, etc.) at any given moment. In some embodiments, the coordinator 3200 may include a “drone flight level down” button 3830 and a “drone flight level up” button 3832, which lower or raise, respectively, UAV's flight position and/or adjust UAV's flight mode.

The controller may include one or more drone positioning buttons. For example, coordinator 3200 may include a “Drone 1” button 3840, a “Drone 2” button 3842, and a “Drone 3” button 3844, although other configurations are contemplated. Such buttons may allow “point and position” functionality. For instance, an operator may point the coordinator 3200 to a first desired area or position to place a first drone, whereupon depressing the “Drone 1” button 3840 sets the flight position or placement of the first drone. The weapons operator may set the flight position or placement of a second drone and a third drone in a similar manner using the “Drone 2” button 3842 and the “Drone 3” button 3844. For weapon-mounted applications, the weapon may be pointed to the desired area or position to set the position of the drones.

FIGS. 39A, 39B, and 39C illustrate a flowchart of a control module process 3900, in accordance with an embodiment of the disclosure. Any step, sub-step, sub-process, or block of process 3900 may be performed in an order or arrangement different from the embodiments illustrated by FIGS. 39A-39C. For example, one or more blocks may be omitted from or added to the process 3900. Process 3900 may be applied to any embodiment disclosed herein.

Referring to FIG. 39A, the process 3900 may begin by setting a master control module (e.g., the coordinator 3200 described above) (block 3901). In block 3902, the master control module may be synchronized with other slave control modules in the space. In block 3904, a data exchange link is established and maintained between the master and slave control modules. In block 3906, control module master function can be switched within the designated control module network (i.e., amongst the peers of the network).

Block 3908 includes setup, link-up and configuration amongst all system devices. For instance, block 3910 includes syncing with a main computer, block 3912 includes syncing with one or more aircrafts, block 3914 includes syncing with aircraft computer and autopilot software, block 3916 includes syncing with ballistic computer and software, and block 3918 includes syncing with any third-party devices for target, aircraft command and control, and atmospheric and environmental data gathering. As shown, each of the main computer, aircraft, aircraft computer and autopilot software, ballistic computer and software, and third-party devices may import and export data as needed.

In block 3920, the coordinator 3200 collects atmospheric and environmental data, with the atmospheric and environmental data shared across linked external communications network or data cloud (block 3922) and/or parameters and data shared across the entire system architecture (block 3924). In block 3926, data exchange is established and maintained amongst the system architecture and linked external communications network and data cloud.

In block 3930, the main computer may run system checks across the entire system architecture, and the coordinator 3200 and main computer may show system status in block 3932. In block 3934, a systems readiness check may be performed. If the system is not ready, the process 3900 may proceed back to block 3930 to rerun system checks across the entire system architecture.

Referring to FIG. 39B, if the system is deemed ready in block 3934, process 3900 may define an aircraft flight path and positioning in relative and absolute 3D space (block 3940). Block 3940 may include three subsystems. For example, in a first subsystem, the coordinator 3200 may be pointed at designated location(s) in space (block 3942). In such embodiments, internal logic or external buttons of the coordinator 3200 may mark the location(s) in space (block 3944), such as via the coordinator 3200 measuring multi-dimensional vectors to designated location(s) in space (block 3946) and/or the coordinator 3200 exchanging data with linked third-party device(s) (block 3948). The first subsystem may then proceed to block 3949, where parameters, vectors, values and data are shared across the entire system architecture.

In a second subsystem of block 3940, designated location(s) may be selected in space on a main computer interface display (e.g., ATAK map) (block 3950). In block 3952, the designated location(s) may be confirmed on the main computer interface display (i.e., ATAK 1502). In block 3954, the main computer may measure multi-dimensional vectors from the coordinator 3200 to designated location(s) in space. In block 3956, the main computer may exchange data with linked third-party device(s). The second subsystem may then proceed to block 3949.

In a third subsystem of block 3940, desired parameter values may be selected manually on the coordinator 3200 (block 3957). In block 3958, the coordinator 3200 may display manually selected range(s) to target(s). In block 3959, the coordinator 3200 may be pointed to designated location(s) in space. Internal logic or external buttons of the coordinator 3200 may mark the location(s) in space (block 3960), such as via the coordinator 3200 measuring multi-dimensional vectors to designated location(s) in space (block 3961) and/or the coordinator 3200 exchanging data with linked third-party device(s) (block 3962). The third subsystem may then proceed to block 3949.

If the system is deemed ready in block 3934, process 3900 may proceed to an indoor/CQB device motion controlled mode (block 3963). In such embodiments, the coordinator 3200 may measure motion-based position adjustments for UAV 100 by multi-dimensional vector inputs from the coordinator 3200 relative to UAV 100 in 3D space or manual repositioning by device remote user interface (block 3964). As shown, process 3900 may then proceed to block 3949.

Referring to FIG. 39C, if the system is deemed ready in block 3934, process 3900 may proceed to define user location data and parameters in relative and absolute 3D space (block 3970). For example, the coordinator 3200 may measure or collect its geolocation in relative and absolute 3D space with device internal sensor (e.g., GPS) (block 3971). In block 3972, designated location(s) may be selected in space on a main computer interface display (e.g., ATAK map). In block 3973, the designated location(s) may be confirmed on the main computer interface display (i.e., ATAK). After confirming the designated location(s), the main computer may measure multi-dimensional vectors from the coordinator 3200 to designated location(s) in space (block 3974) and/or the main computer may exchange data with linked third-party device(s) (block 3975).

If the system is deemed ready in block 3934, process 3900 may proceed to define target data and parameters in relative and absolute 3D space (block 3980). Block 3980 may include three subsystems. For example, in a first subsystem, the coordinator 3200 may be pointed at designated location(s) in space (block 3981). In such embodiments, internal logic or external buttons of the coordinator 3200 may mark the location(s) in space (block 3982), such as via the coordinator 3200 measuring multi-dimensional vectors to designated location(s) in space (block 3983) and/or the coordinator 3200 exchanging data with linked third-party device(s) (block 3984). The first subsystem may then proceed to block 3949.

In a second subsystem of block 3980, designated location(s) may be selected in space on a main computer interface display (e.g., ATAK map) (block 3985). In block 3986, the designated location(s) may be confirmed on the main computer interface display (i.e., ATAK 1502). In block 3987, the main computer may measure multi-dimensional vectors from the coordinator 3200 to designated location(s) in space. In block 3988, the main computer may exchange data with linked third-party device(s). The second subsystem may then proceed to block 3949.

In a third subsystem of block 3980, desired parameter values may be selected manually on the coordinator 3200 (block 3989). In block 3990, the coordinator 3200 may display manually selected range(s) to target(s). In block 3991, the coordinator 3200 may be pointed to designated location(s) in space. Block 3992 may include engaging a user interface on the coordinator 3200, device internal or external button to mark location(s) in space (block 3992), such as via the coordinator 3200 measuring multi-dimensional vectors to designated location(s) in space (block 3993) and/or the coordinator 3200 exchanging data with linked third-party device(s) (block 3994). The third subsystem may then proceed to block 3949.

Referring to FIG. 39B, after proceeding to block 3949, process 3900 may start targeting and execute UAV command and control procedure(s) (block 3995), as noted above and detailed below with reference to FIG. 40 .

FIGS. 40A, 40B, and 40C illustrate a flowchart of a process of targeting and UAV command and control procedures, in accordance with an embodiment of the disclosure. The process illustrated in FIG. 40 may be performed in block 3995 illustrated in FIG. 39B, described above. Any step, sub-step, sub-process, or block of process may be performed in an order or arrangement different from the embodiments illustrated by FIG. 40 . For example, one or more blocks may be omitted from or added to the process. Process may be applied to any embodiment disclosed herein.

As shown, process may begin with a start targeting or UAV command procedure (block 4002), which triggers coordinator linkup with application ecosystem (block 4004). Block 4004 may include various device pairing, status reports, and health monitoring, such as pairing with UAV(s) (e.g., one or more UAVs 100) activated and selected for mission (block 4006) and ecosystem status report and health monitoring (block 4008). Block 4004 may include configuration of various profiles. For instance, the coordinator 3200 may use a gun profile, bullet library data and custom drag model (CDM) from most recent setting and device configuration (block 4010). In embodiments, the coordinator 3200 may import gun profile(s), bullet library data and CDM from an external device via wireless or wired communication (block 4012). In block 4014, the coordinator 3200 may import gun profile(s), bullet library data and CDM from ballistics software and database via wireless or wired communication. In block 4016, the system may configure a gun profile, bullet data and CDM on the coordinator 3200 or on a user display (e.g., software or ATAK application).

Process may proceed to block 4020, which checks whether the system is in an indoor, CQB, or patrolling UAV device motion controlled mode. If not, process may proceed in acquiring environmental parameters (block 4022). Block 4022 may include updating current environmental parameters using device internal sensors (block 4024) and/or using external device(s) via wired or wireless data import (block 4026).

Process may then proceed to define and/or calculate one or more characteristics. For instance, process may obtain definition of device geolocation (relative and absolute) (block 4028) and definition of range between user and target (block 4030). Defining the range between user and target may include using device internal buttons and sensors, software application or external devices paired to the coordinator 3200 (block 4032). In embodiments, process may obtain definition of relative and absolute direction of fire or flight (user to target azimuth) (block 4034), which may include using device internal buttons and sensors, software application or external devices paired to the coordinator 3200 (block 4036). In embodiments, process may obtain definition of slant angle between user and target (positive or negative elevation) (block 4038), which may include using device internal buttons and sensors, software application or external devices paired to the coordinator 3200 (block 4040).

As shown, process may include automatic calculation of relative and absolute user and target geolocation in 3D space (block 4042). For example, the calculation may utilize geolocations relative to earth (i.e., coordinator 3200) and user (vector-based values for GPS-denied areas) (block 4044). In some embodiments, data may be imported from external devices paired to the coordinator 3200 (block 4046).

Process may include UAV autopilot waypoint calculation(s) based on current user and target geolocation in 3D space (block 4048). In embodiments, optional automatic or manual UAV positioning, waypoint and flight path adjustment may occur in block 4050. Process may then proceed to UAV flight mode selection (block 4052). As shown, if block 4020 returns a yes, process may proceed directly to block 4052.

Once flight mode is selected, process may proceed to UAV deployment (block 4054), during which ecosystem status report and health monitoring occurs (block 4056). Once deployed, the UAV(s) perform mission tasks and provide real-time data streaming and monitoring (block 4058). In some embodiments, process may include optional automatic or manual UAV position, waypoint and flight path adjustment (block 4060). If so, process includes constant device orientation in relative and absolute 3D space and vector assessment (block 4062). If desired, the UAV(s) may adjust position according to altered relative and absolute device position and orientation in 3D space (block 4064). Blocks 4062 and 4064 may repeat as many times as needed for the duration of operations.

In some embodiments, process may include optional automatic or manual UAV flight mode adjustments based on user and mission needs (block 4066). If so, process includes optional UAV destruction (block 4068) or other flight mode adjustments, supported by ecosystem status report and health monitoring (block 4070). In block 4068, the UAV may include a nano-charge, a phosphor ignition system, an electrical short circuit mechanism, an explosive charge, or other destruction application or system. The UAV destruction system (e.g., explosive charge(s)) may be carried by the rotating payload system, discussed above. The UAV destruction may be physically, sensor, or remotely triggered, such as by a centralized system or control. For example, the UAV may be remotely destroyed in case of enemy capture. In some embodiments, the UAV destruction may be used to engage a target. For instance, the UAV may be used as a suicide UAV to engage a target beyond a sniper engagement distance, where the UAV may be flown (directly) into an enemy and an explosive charge triggered physically (e.g., impact trigger), via sensors (e.g., heat, proximity, face identification, AI trigger, etc.), or remotely (e.g., via ATAK mission control system 1502). In embodiments, an operator may fly the UAV to a designated position, land and hide the UAV, and use the UAV as an improvised explosive device (IED) triggered in a similar manner.

As shown, process may include UAV return home to user or a designated landing zone (block 4072). Once the UAV(s) return home or land in the designated landing zone, process may return to block 4020 for further operations, or process may end (block 4074).

FIGS. 41-46 illustrate six respective operations supporting the flowcharts illustrated in FIGS. 39A-40C, in accordance with an embodiment of the disclosure. Specifically, FIG. 41 illustrates a first operation of gun profile, ammo profile, and/or CDM configuration. FIG. 42 illustrates a second operation of acquiring target parameters. FIG. 43 illustrates a third operation of acquiring environmental parameters. FIG. 44 illustrates a fourth operation of defining UAV positions between FFP 0 and target. FIG. 45 illustrates a fifth operation of defining a UAV flight mode. FIG. 46 illustrates a sixth operation of deploying drones and receiving live drone status and wind data.

FIGS. 47-50 illustrate various examples of coordinator movement detection and triggering UAV control and UAV position adjustment, in accordance with an embodiment of the disclosure. For example, FIG. 47 illustrates controlling a position of UAV 100 in space through a direction of fire 4700 captured via the coordinator 3200. FIGS. 48-49 illustrate controlling lateral movement of UAV 100 in space via canting of the weapons system left or right (i.e., from vertical 4800). FIG. 50 illustrates controlling vertical movement of UAV 100 in space via canting and/or adjusting the slant angle of the weapons system (i.e., from horizontal 5000).

FIGS. 51-54 illustrate various examples of coordinator-enabled UAV positioning in an indoor/CQB mode, in accordance with an embodiment of the disclosure. For example, one or more sensors may detect coordinator movement in 3D space to autopilot UAV 100 relative to direction of fire, for instance. In some embodiments, UAV 100 may be autopiloted based on movement of the coordinator 3200 (e.g., follows the coordinator's movements, etc.). In some embodiments, UAV 100 may be piloted manually via one or more controls (e.g., a joystick function) on the coordinator 3200. For instance, motion, compass, visual and gyroscopic sensors detect coordinator movement in 3D space relative to the ground or a designated vector such as direction of flight of a bullet, energy beam, laser beam or frequency wave. UAV 100 may follow the coordinator movements and directions accordingly, either when manually activated by pushing a button on the device (or remote control) or in automatic mode.

FIG. 55 illustrates wind estimation via a wind triangle method, in accordance with an embodiment of the disclosure. As shown, UAV 100 may measure wind speed and wind direction using a wind triangle technique and apply the wind parameters to precision target engagement operations. Although UAV 100 is shown, other airborne stations may be utilized, including smaller or higher class UAV/UAS, airplanes, VTOLs, tail-sitters, silent gliders, multi-rotors, helicopters, or hybrid configurations.

Referring to FIG. 55 , a wind measurement system may include the coordinator 3200 and two or more wind measurement stations. The wind measurement stations may be a combination of fixed ground and airborne stations. The wind measurement stations may provide estimations of the wind profile along the ballistic trajectory path or measure wind profiles indirectly or predict local wind profiles via machine learning algorithms. The stations may provide the estimated velocity vector of the wind with respect to the ground, and their position along the ballistic trajectory. A method of wind estimation may include measuring the velocity vector of the station with respect to the ground (ground course vector 5500), and the velocity vector of the air relative to the station (apparent wind vector 5502). The estimation of the wind with respect to the ground (true wind vector 5504) is achieved by the combination of ground course vector 5500 and apparent wind vector 5502 (i.e., the wind triangle). FIG. 55 shows the velocity vectors that make up the wind triangle. The true wind vector 5504 is calculated by adding the apparent wind and ground course vectors 5502, 5500.

FIG. 56 illustrates various wind sensors, in accordance with an embodiment of the disclosure. For fixed ground stations the velocity vector may be assumed to be identically zero and does not require a ground course measurement. For each airborne station, the aircraft could use a variety of methods to measure their velocity with respect to the ground. Such methods include, but are not limited to, velocity measurements provided by a GPS device, and visual inertial odometry (VIO) techniques. A variety of methods could be used for each station to measure the apparent wind. For example, these methods include, but are not limited to, pitot tubes, omni-directional pitot tubes, pressure sensor arrays, ultrasonic time of flight sensors, aerodynamic deflection sensors, rotational anemometers, hot wire anemometers, particle image velocimetry, and vehicle airspeed to attitude modeling. An accurate heading reference of each station may be needed to get a common reference frame between stations. The heading can be measured using a variety of methods including, but not limited to, a magnetic compass, a GPS compass consisting of two horizontally spaced GPS or RTK GPS modules of known orientation, and visual inertial odometry (VIO) techniques.

FIG. 57 illustrates sensor placement on UAV 100, in accordance with an embodiment of the disclosure. As shown, UAV 100 may include a multitude of ground course and apparent wind measurement devices. For example, UAV 100 may include dual RTK GPS 5700 for ground course, position, and heading measurements. The RTK GPS may be placed on the wings 102 of UAV 100. The rotating payload 300 may include a 3-axis ultrasonic sensor for apparent wind measurement. In embodiments, UAV 100 may include a VIO system, including a camera and lidar, for ground course, position, and heading measurements. In some embodiments, UAV 100 may include an omni-directional pilot tube 5702. As shown, UAV 100 may include an inertial measurement unit (IMU) and autopilot feature 5704 to provide attitude and heading estimates for an attitude to apparent wind model reference and direction of flight (e.g., using accelerometer, gyroscope, magnetometer, etc.).

All relative and directional references (including up, down, upper, lower, top, bottom, side, front, rear, and so forth) are given by way of example to aid the reader's understanding of the examples described herein. They should not be read to be requirements or limitations, particularly as to the position, orientation, or use unless specifically set forth in the claims. Connection references (e.g., attached, coupled, connected, joined, and the like) are to be construed broadly and may include intermediate members between a connection of elements and relative movement between elements. As such, connection references do not necessarily infer that two elements are directly connected and in fixed relation to each other, unless specifically set forth in the claims.

The present disclosure teaches by way of example and not by limitation. Therefore, the matter contained in the above description or shown in the accompanying drawings should be interpreted as illustrative and not in a limiting sense. The following claims are intended to cover all generic and specific features described herein, as well as all statements of the scope of the present method and system, which, as a matter of language, might be said to fall there between. 

1. An unmanned aerial vehicle (UAV) comprising: a swashplateless and hinged propulsion system; and a rotating payload system configured to: rotate about a first axis between a storage position and a use position, the storage position positioning one or more payloads within a body of the UAV, the use position rotating the one or more payloads away from the body of the UAV, and extend and retract the one or more payloads linearly along a second axis to selectively position the one or more payloads away from the body of the UAV based on flight and/or atmospheric conditions, wherein the one or more payloads comprise at least one of: an intelligence, surveillance, and reconnaissance (ISR) device, an explosive charge, a wind sensor, and an atmospherics and/or chemical, biological, radiological and nuclear (CBRN) sensor.
 2. The UAV of claim 1, wherein the rotating payload system is operable to move and lock the one or more payloads in and out along the second axis to change a height of the one or more payloads relative to the propulsion system and/or a fuselage.
 3. The UAV of claim 2, wherein extension or retraction of the one or more payloads along the second axis is mechanically linked to a rotation movement of the rotating payload system about the first axis.
 4. The UAV of claim 1, wherein the rotating payload system comprises at least one of an interchangeable rotating payload head operable to carry and switch quickly between multiple different payloads.
 5. The UAV of claim 4, wherein the rotating payload system is configured to maintain the payload head in an application-desired position independent of aircraft movement or aircraft position in space.
 6. The UAV of claim 1, wherein: the UAV is a foldable winged tail-sitter vertical take-off and landing aircraft; and the propulsion system includes a teetering hinge, an off-set hinge, or a lag-pitch hinge.
 7. The UAV of claim 6, wherein the UAV comprises angled wing tips and center fuselage fins acting as built-in vertical take-off and landing gear.
 8. The UAV of claim 6, wherein the UAV is operable to transition from vertical flight to horizontal flight using the swashplateless and hinged propulsion system.
 9. The UAV of claim 1, wherein the propulsion system comprises a same-directional or counter-rotating dual rotor system.
 10. The UAV of claim 1, further comprising a visual-inertial odometry (VIO) sensor.
 11. The UAV of claim 1, further comprising a self-recovery feature allowing aircraft launch after a crash, fall or tip-over.
 12. A system comprising: the UAV of claim 1; and an airdrop shell configured to receive the UAV therein, the airdrop shell openable to deploy the UAV for mission operations.
 13. The system of claim 12, wherein the airdrop shell comprises a parachute releasable to slow a descent of the airdrop shell and allow the UAV to slide out of the airdrop shell by gravity force.
 14. The system of claim 12, wherein the airdrop shell comprises a parachute-less system to slow a descent of the airdrop shell and allow the UAV to slide out of the airdrop shell by gravity force.
 15. A system comprising: the UAV of claim 1; and a weapon or device-mounted UAV flight controller comprising: an inertial navigation system (INS) comprising a combination of accelerometer, gyroscope, magnetometer, GPS, and visual-based sensors; a communications module configured to communicate with the UAV; and a flight module configured to: receive flight data from the UAV, and generate flight control instructions based at least on the flight data and data received from the INS, the flight control instructions operable to pilot the UAV based on movement of the UAV flight controller in 3D space.
 16. The system of claim 15, wherein the flight module is configured to set a flight position of the UAV for gathering wind, ISR, atmospherics data and location of UAV detonation.
 17. The system of claim 16, wherein the flight module is configured to set flight positions for additional UAVs for gathering wind, ISR and atmospherics data and location of UAV detonation.
 18. The system of claim 15, further comprising a ballistic computer operable to provide a ballistic solution for a weapon projectile based on wind and atmospherics data received from the UAV.
 19. The system of claim 15, wherein the flight module is configured to launch, destroy and retrieve the UAV based on user input.
 20. A method of calculating a true wind vector using the UAV of claim 1 and wind triangle techniques, the method comprising: calculating a ground course vector through measurement of a velocity vector of the UAV with respect to ground; calculating an apparent wind vector through measurement of a velocity vector of the air relative to the UAV; and calculating the true wind by combining the ground course vector and the apparent wind vector. 